visualization_manager.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */


#ifndef RVIZ_VISUALIZATION_MANAGER_H_
#define RVIZ_VISUALIZATION_MANAGER_H_

#include <deque>

#include <ros/time.h>

#include "rviz/bit_allocator.h"
#include "rviz/config.h"
#include "rviz/display_context.h"
#include "rviz/rviz_export.h"

class QKeyEvent;
class QTimer;

namespace Ogre
{
class Root;
class SceneManager;
class SceneNode;
class Light;
} // namespace Ogre

namespace ros
{
class CallbackQueueInterface;
}

namespace tf
{
class TransformListener;
}

namespace rviz
{
class ColorProperty;
class Display;
class DisplayFactory;
class DisplayGroup;
class FrameManager;
class Property;
class BoolProperty;
class IntProperty;
class PropertyTreeModel;
class RenderPanel;
class SelectionManager;
class StatusList;
class TfFrameProperty;
class ViewportMouseEvent;
class WindowManagerInterface;
class Tool;
class OgreRenderQueueClearer;

class VisualizationManagerPrivate;

class RVIZ_EXPORT VisualizationManager : public DisplayContext
{
  Q_OBJECT
public:
  explicit VisualizationManager(RenderPanel* render_panel, WindowManagerInterface* wm = nullptr);

  [[deprecated("This constructor signature will be removed in the next version. "
               "If you still need to pass a boost::shared_ptr<tf::TransformListener>, "
               "disable the warning explicitly. "
               "When this constructor is removed, a new optional argument will added to "
               "the other constructor and it will take a std::pair<> containing a "
               "std::shared_ptr<tf2_ros::Buffer> and a "
               "std::shared_ptr<tf2_ros::TransformListener>. "
               "However, that cannot occur until the use of tf::TransformListener is "
               "removed internally.")]] VisualizationManager(RenderPanel* render_panel,
                                                             WindowManagerInterface* wm,
                                                             boost::shared_ptr<tf::TransformListener> tf);

  ~VisualizationManager() override;

  void initialize();

  void startUpdate();

  /*
   * \brief Stop the update timers. No Displays will be updated and no ROS
   *        callbacks will be called during this period.
   */
  void stopUpdate();

  Display* createDisplay(const QString& class_lookup_name, const QString& name, bool enabled);

  void addDisplay(Display* display, bool enabled);

  void removeAllDisplays();

  void load(const Config& config);

  void save(Config config) const;

  QString getFixedFrame() const override;

  void setFixedFrame(const QString& frame);

  [[deprecated("use getTF2BufferPtr() instead")]] tf::TransformListener* getTFClient() const override;

  std::shared_ptr<tf2_ros::Buffer> getTF2BufferPtr() const override;

  Ogre::SceneManager* getSceneManager() const override
  {
    return scene_manager_;
  }

  RenderPanel* getRenderPanel() const
  {
    return render_panel_;
  }

  double getWallClock();

  double getROSTime();

  double getWallClockElapsed();

  double getROSTimeElapsed();

  void handleChar(QKeyEvent* event, RenderPanel* panel) override;

  void handleMouseEvent(const ViewportMouseEvent& event) override;

  void resetTime();

  SelectionManager* getSelectionManager() const override
  {
    return selection_manager_;
  }

  ToolManager* getToolManager() const override
  {
    return tool_manager_;
  }

  ViewManager* getViewManager() const override
  {
    return view_manager_;
  }

  void lockRender();

  void unlockRender();

  void queueRender() override;

  WindowManagerInterface* getWindowManager() const override
  {
    return window_manager_;
  }

  ros::CallbackQueueInterface* getUpdateQueue() override;

  ros::CallbackQueueInterface* getThreadedQueue() override;

  FrameManager* getFrameManager() const override
  {
    return frame_manager_;
  }

  uint64_t getFrameCount() const override
  {
    return frame_count_;
  }

  void notifyConfigChanged();

  DisplayFactory* getDisplayFactory() const override
  {
    return display_factory_;
  }

  PropertyTreeModel* getDisplayTreeModel() const
  {
    return display_property_tree_model_;
  }

  void emitStatusUpdate(const QString& message);

  DisplayGroup* getRootDisplayGroup() const override
  {
    return root_display_group_;
  }

  uint32_t getDefaultVisibilityBit() const override
  {
    return default_visibility_bit_;
  }

  BitAllocator* visibilityBits() override
  {
    return &visibility_bit_allocator_;
  }

  void setStatus(const QString& message) override;

  virtual void setHelpPath(const QString& help_path)
  {
    help_path_ = help_path;
  }
  virtual QString getHelpPath() const
  {
    return help_path_;
  }

Q_SIGNALS:

  void preUpdate();

  void configChanged();

  void statusUpdate(const QString& message);

  void escapePressed();

protected Q_SLOTS:
  void onUpdate();

  void onToolChanged(Tool* tool);

protected:
  void updateTime();
  void updateFrames();

  void createColorMaterials();

  void threadedQueueThreadFunc();

  Ogre::Root* ogre_root_;             
  Ogre::SceneManager* scene_manager_; 

  QTimer* update_timer_; 
  ros::Time last_update_ros_time_; 
  ros::WallTime last_update_wall_time_;

  volatile bool shutting_down_;

  PropertyTreeModel* display_property_tree_model_;
  DisplayGroup* root_display_group_;

  ToolManager* tool_manager_;
  ViewManager* view_manager_;

  Property* global_options_;
  TfFrameProperty* fixed_frame_property_; 
  StatusList* global_status_;
  IntProperty* fps_property_;
  BoolProperty* default_light_enabled_property_;

  RenderPanel* render_panel_;

  ros::WallTime wall_clock_begin_;
  ros::Time ros_time_begin_;
  ros::WallDuration wall_clock_elapsed_;
  ros::Duration ros_time_elapsed_;

  ColorProperty* background_color_property_;

  float time_update_timer_;
  float frame_update_timer_;

  SelectionManager* selection_manager_;

  uint32_t render_requested_;
  uint64_t frame_count_;

  WindowManagerInterface* window_manager_;

  FrameManager* frame_manager_;

  OgreRenderQueueClearer* ogre_render_queue_clearer_;

private Q_SLOTS:
  void updateFixedFrame();
  void updateBackgroundColor();
  void updateFps();
  void updateDefaultLightVisible();

private:
  DisplayFactory* display_factory_;
  VisualizationManagerPrivate* private_;
  uint32_t default_visibility_bit_;
  BitAllocator visibility_bit_allocator_;
  QString help_path_;
  Ogre::Light* directional_light_;
};

} // namespace rviz

#endif /* RVIZ_VISUALIZATION_MANAGER_H_ */